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There's an option in colcon test (ref (colcon.readthedocs.io)):

--python-testing {pytest,setuppy_test}

Note that these are for "pure Python" test cases, i.e. tests that don't involve ROS nodes. For tests with ROS nodes, in ROS1 you can use rostest. In ROS2, #q292100 (started in 2018) indicates there's no equivalent.